解释

Author: HuangCongQing

catkin_wp/src/learning_topic/src/pose_subscriber.cpp

@@ -10,7 +10,7 @@ Copyright 2020 GuYueHome (www.guyuehome.com).
 #include "turtlesim/Pose.h"
 
 // 接收到订阅的消息后，会进入消息回调函数
-void poseCallback(const turtlesim::Pose::ConstPtr& msg)
+void poseCallback(const turtlesim::Pose::ConstPtr& msg) // msg 长指针
 {
     // 将接收到的消息打印出来
     ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
@@ -27,7 +27,7 @@ int main(int argc, char **argv)
     // 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
     ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);
 
-    // 循环等待回调函数
+    // 循环等待回调函数（死循环，不断查看队列有没有消息进来
     ros::spin();
 
     return 0;